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<div class="title">types_sba.h</div>  </div>
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<a href="types__sba_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 Kurt Konolige</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_SBA_TYPES</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_SBA_TYPES</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;../core/base_vertex.h&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Geometry&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">   40</a></span>&#160; <span class="keyword">class </span><a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_base_vertex.html">BaseVertex</a>&lt;3, Vector3d&gt;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;{</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW    </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#ad2b835ac63c1bbe22975a409151036d8">VertexSBAPointXYZ</a>();</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a3668aa23ed3fc7e2c3e6bddda7ddcd1a">read</a>(std::istream&amp; is);</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a6b2fc33f2107c039d441e1bd2a17973a">write</a>(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a787b72465f35a3f30fcbb6b8056b47c4">   48</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a787b72465f35a3f30fcbb6b8056b47c4">setToOriginImpl</a>() {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      <a class="code" href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">_estimate</a>.fill(0.);</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#aa2a13838edc46ed5395fee5c07c4c8ea">   52</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#aa2a13838edc46ed5395fee5c07c4c8ea">oplusImpl</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* update)</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    {</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      Eigen::Map&lt;const Vector3d&gt; v(update);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <a class="code" href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">_estimate</a> += v;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;};</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#endif // SBA_TYPES</span></div><div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html_ad2b835ac63c1bbe22975a409151036d8"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#ad2b835ac63c1bbe22975a409151036d8">g2o::VertexSBAPointXYZ::VertexSBAPointXYZ</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW VertexSBAPointXYZ()</div><div class="ttdef"><b>Definition:</b> types_sba.cpp:35</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html_a6b2fc33f2107c039d441e1bd2a17973a"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a6b2fc33f2107c039d441e1bd2a17973a">g2o::VertexSBAPointXYZ::write</a></div><div class="ttdeci">virtual bool write(std::ostream &amp;os) const</div><div class="ttdoc">write the vertex to a stream </div><div class="ttdef"><b>Definition:</b> types_sba.cpp:47</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html_a787b72465f35a3f30fcbb6b8056b47c4"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a787b72465f35a3f30fcbb6b8056b47c4">g2o::VertexSBAPointXYZ::setToOriginImpl</a></div><div class="ttdeci">virtual void setToOriginImpl()</div><div class="ttdoc">sets the node to the origin (used in the multilevel stuff) </div><div class="ttdef"><b>Definition:</b> types_sba.h:48</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">g2o::VertexSBAPointXYZ</a></div><div class="ttdoc">Point vertex, XYZ. </div><div class="ttdef"><b>Definition:</b> types_sba.h:40</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html_aa2a13838edc46ed5395fee5c07c4c8ea"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#aa2a13838edc46ed5395fee5c07c4c8ea">g2o::VertexSBAPointXYZ::oplusImpl</a></div><div class="ttdeci">virtual void oplusImpl(const double *update)</div><div class="ttdoc">update the position of the node from the parameters in v. </div><div class="ttdef"><b>Definition:</b> types_sba.h:52</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html"><div class="ttname"><a href="classg2o_1_1_base_vertex.html">g2o::BaseVertex</a></div><div class="ttdoc">Templatized BaseVertex. </div><div class="ttdef"><b>Definition:</b> base_vertex.h:53</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html_a3668aa23ed3fc7e2c3e6bddda7ddcd1a"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html#a3668aa23ed3fc7e2c3e6bddda7ddcd1a">g2o::VertexSBAPointXYZ::read</a></div><div class="ttdeci">virtual bool read(std::istream &amp;is)</div><div class="ttdoc">read the vertex from a stream, i.e., the internal state of the vertex </div><div class="ttdef"><b>Definition:</b> types_sba.cpp:39</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_ab188c92c3e906c6e06507ae624c0e7ac"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#ab188c92c3e906c6e06507ae624c0e7ac">g2o::BaseVertex&lt; 3, Vector3d &gt;::_estimate</a></div><div class="ttdeci">EstimateType _estimate</div><div class="ttdef"><b>Definition:</b> base_vertex.h:109</div></div>
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